1. STIIMA CNR, Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council, Via P. Lembo 38/F, Bari 70124, Italy
2. Department of Mechanics, Mathematics and Management, Politecnico di Bari, Via Orabona 4, Bari 70126, Italy
3. STIIMA CNR, Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council, Via A. Corti 12, Milan 20133, Italy